Main buck unit for vehicle body assembling system and control method of the same

ABSTRACT

A vehicle body assembling system forms a pre-buck section and a main buck section set along a transfer path of a floor assembly. A main buck unit is set at opposite sides of the transfer path in the main buck section, controls an upper portion of a side assembly in a state that a lower portion of each side assembly is pre-assembled to the floor assembly the pre-buck section, and assembles the upper portion of the side assembly and vehicle body parts using a second welding robot.

CROSS-REFERENCE TO RELATED APPLICATION

This application claims under 35 U.S.C. § 119(a) the benefit of KoreanPatent Application No. 10-2016-0115071 filed in the Korean IntellectualProperty Office on Sep. 7, 2016, the entire contents of which areincorporated herein by reference.

BACKGROUND (a) Technical Field

The present disclosure relates to a vehicle body assembling system, moreparticularly, to a main buck unit for the vehicle body assembling systemconfigured to assemble various types of vehicles in a vehicle bodyassembly line, and a method for controlling the same.

(b) Description of the Related Art

In general, a vehicle is formed in the shape of a white body (i.e., bodyin white, BIW) through a process of assembling various product panelsproduced in a vehicle body subprocess.

A vehicle body is formed of a floor panel that supports a drivingportion such as an engine, an axle, a seat, and the like from a lowerportion of a frame, opposite side panels that respectively form a leftside and a right side of the frame, a roof panel that forms an uppersurface of the frame, and a plurality of parts such as a cowl panel, aroof rail, a package tray, and a back panel. Assembly of the vehicleparts is performed through a main buck process (also referred to as abody build-up process in the relevant field).

In the main buck process, the back panel is bonded to the floor panelthrough the vehicle body assembling system, and then the opposite sidepanels, the cowl panel, the roof rail, the package tray, and the roofpanel are assembled by welding.

For example, the vehicle body assembling system controls the side panelsthrough a side hanger and a side gate, sets the side panel in the floorpanel, sets the cowl panel, the roof rail, and the package tray in theside panel, and then welds a bonding portion of the parts through awelding robot.

A vehicle body assembling system according to a conventional art isprovided with a rotation index (also referred to as a 4-sided rotator inthe relevant field) that installs a vehicle-specific side gate in eachof four sides. The 4-side rotation index rotates while controlling thevehicle-specific side panel through each of the side gates, and mayplace a side panel of the corresponding vehicle in the correct positionat opposite sides of the floor panel.

Thus, while relevant parts (e.g., the cowl panel, the roof rail, and thepackage tray) are placed in the correct position in an upper end portionof the side panel that is controlled by the side gate of the 4-siderotation index, the upper end portion of the side panel, the relevantparts, a lower end portion of the side panel, and the floor panel may bewelded using the welding robot in the conventional art.

In addition, in the conventional art, the entire frame of the vehiclebody can be controlled at once through the vehicle-specific side gate ofthe 4-rotation index, and therefore the entire vehicle body assemblingsystem may be increased in weight and size.

Further, since the vehicle-specific side gate is installed at each sideof the 4-side rotation index in the conventional art, five or moredifferent types of vehicle bodies cannot be assembled, and heavy andlarge-scale equipment needs to be additionally installed to assemblefive or more different types of vehicle bodies.

The above information disclosed in this Background section is only forenhancement of understanding of the background of the disclosure andtherefore it may contain information that does not form the prior artthat is already known in this country to a person of ordinary skill inthe art.

SUMMARY

Exemplary embodiments of the present disclosure provide a main buck unitfor a vehicle body assembling system that can assemble at least five ormore types of vehicles by separating a vehicle body assembly processinto two processes rather than forming a frame of a vehicle body througha single process, and is capable of reducing the weight of the entireequipment, and a method for controlling the same.

A vehicle body assembling system includes a pre-buck unit in a pre-bucksection and a main buck unit in a main buck section that are set along atransfer path of a floor assembly. According to the exemplary embodimentof the present disclosure, the main buck unit is set at opposite sidesof the transfer path in the main buck section, and the vehicle bodyassembling system controls an upper portion of each side assembly in astate that a lower portion of each side assembly is pre-assembled to thefloor assembly by the pre-buck unit in the pre-buck section, andassembles the upper portion of each side assembly and vehicle body partsusing a second welding robot.

In addition, the vehicle body assembling system according to theexemplary embodiment of the present disclosure controls a vehicle widthdirection of the side assembly in the main buck section while the lowerportion of each side assembly is welded to the floor assembly by thepre-buck unit, and welds the upper portion of the side assembly and thevehicle body parts using the second welding robot.

Further, the vehicle body assembling system according to the exemplaryembodiment of the present disclosure may include a loading portion(e.g., a CRP loading portion, referring to a cowl, a roof rail, and apackage tray) that controls the vehicle body parts that include a cowl,a roof rail, and a package tray, and places the vehicle body parts inregular positions in the upper portion of the side assembly.

The main buck unit may include a plurality of side jigs that control anupper portion of a side assembly that is different depending on a typeof a vehicle, and a 4-sided rotation index that fixes the side jig.

The main buck unit detachably may couple the side jig with respect tothe rotation index by using a handling robot.

According to another exemplary embodiment of the present disclosure, amain buck unit is provided in a vehicle body assembling system that setsa pre-buck section and a main buck section along a transfer path of afloor assembly and forms a pre-buck unit in the pre-buck section. Themain buck unit is formed in the main buck section, and includes: aplurality of side jigs detachably mounted to a handling robot in themain buck section and controlling an upper portion of a side assemblythat is different depending on a type of a vehicle; a rotation indexcoupled with the side jig in the main buck section, that is rotatable bya predetermined angle, and that is provided to be reciprocativelymovable along a vehicle width direction at opposite sides of thetransfer path; and at least one second welding robot provided in themain buck section and welding the upper portion of the side assembly andvehicle body parts.

The main buck unit may include a loading portion (e.g., a CRP loadingportion) provided to be movable along the transfer path in an upper sideof the transfer path and being elevatable in the main buck section.

The CRP loading portion may control the vehicle body parts that includea cowl, a roof rail, and a package tray, and may place the vehicle bodyparts in regular positions in the upper portion of the side assembly.

A storage portion may be provided in the main buck section to store theplurality of side jigs.

Each of the side jigs may include: a jig frame mounted to an arm frontend of the handling robot in the min-buck section; a plurality of thirdclampers provided in the jig frame, clamping the upper portion of theside assembly, and controlling a vehicle width direction of the sideassembly; and a plurality of second coupling pins provided in the jigframe and coupled with the rotation index.

The second coupling pin may form a round-shaped second ball couplinggroove along a circumferential direction thereof.

The rotation index may include: second movement members provided to bereciprocatively movable along a vehicle width direction by a driver inmain buck frames at opposite sides of the transfer path; a pair of indexframes provided at a distance from each other on the second movementmember; a rotator including four sides where the side jigs that aredifferent depending on a type of the vehicle are detachably coupled androtatably provided in the index frame by the driver; a plurality of jigcoupling portions provided in the respective sides of the rotator andpin-coupled with the side jigs; and a plurality of fourth dampersprovided in the respective sides of the rotator and fixing the side jigsto the rotator.

The jig coupling portion may be provided with a triangular structure ineach side of the rotator.

The jig coupling portion may include: a second pin housing to which asecond coupling pin provided in the side jig is fitted; and a secondball clamp provided in the second pin housing and clamping the secondcoupling pin using a plurality of balls.

The second ball clamp may include a pair of second race members wherethe balls are rollably provided, and may be provided to be movable to acenter from an outer side of a circumferential direction of the secondcoupling pin by the driver.

The second coupling pin may form a round-shaped second ball couplinggroove along a circumferential direction thereof.

The balls may be coupled to the second ball coupling grooves by thesecond race members.

In the index frame, a second location sensor that senses a location ofthe side assembly and controls a driver of the second movement memberaccording to a sense signal may be provided.

A vehicle type tag may be provided in the side jig and a tag reader maybe provided in each side of the rotator.

According to another exemplary embodiment of the present disclosure, amethod for controlling a main buck unit for a vehicle body assemblingsystem is provided. The method includes: receiving, by a tag reader,vehicle type information of side jigs coupled to four sides of arotation index; determining, by a controller, whether a side jig thatcorresponds to a type of a next vehicle to be produced in addition tothe side jig of the type of a vehicle that is currently produced iscoupled to the rotation index; when it is determined that a side jig ofa type of the next vehicle to be produced is not coupled to the rotationindex, separating the side jig mounted to an upper side of the rotationindex and unloading the separated side jig in a storage portion inassembling of a side assembly of the type of the vehicle that iscurrently produced; and selecting, by the controller, a side jig of atype of the next vehicle to be produced from the storage portion, andcoupling the selected side jig to the upper side of the rotation indexwhen the rotation index is moved backward after finishing assembly ofthe side jig of the type of the vehicle that is currently produced.

When it is determined that the side jig of the type of the next vehicleto be produced is coupled to the rotation index, the side assembly ofthe type of the vehicle that is currently produced and a side assemblyof the type of the next to be produced vehicle may be assembled byrotating the rotation index and moving the rotation index back andforth.

A tag reader provided in each side of the rotation index may receivevehicle type information stored in a vehicle type tag provided in theside jig.

According to the exemplary embodiments of the present disclosure, thelower portion of the side assembly is pre-assembled to the floorassembly using the pre-buck unit in the pre-buck section, and then theupper portion of the side assembly and the vehicle body parts can beassembled by the main buck unit in the main buck section.

Thus, according to the exemplary embodiment of the present disclosure,the main buck unit for the vehicle body assembling system that canassemble at least five or more types of vehicles by separating a vehiclebody assembly process into two processes rather than forming a frame ofa vehicle body through a single process as in a conventional art, and iscapable of reducing the weight of the entire equipment, and a method forcontrolling the same are provided.

Accordingly, various types of vehicles can be produced, equipmentpreparation time can be reduced, the entire equipment can belight-weight and simplified, and initial investment cost and additionalinvestment cost due to addition of different types of vehicles can besaved.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings are intended to be used as references for describing theexemplary embodiments of the present disclosure, and the accompanyingdrawings should not be construed as limiting the technical spirit of thepresent disclosure.

FIGS. 1 and 2 are schematic diagrams of a vehicle body assembling systemaccording to an exemplary embodiment of the present disclosure.

FIG. 3 shows a side assembly applied to the vehicle body assemblingsystem according to the exemplary embodiment of the present disclosure.

FIG. 4 is a perspective view of a pre-buck unit applied to the vehiclebody assembling system according to the exemplary embodiment of thepresent disclosure.

FIGS. 5 and 6 are perspective views of a side hanger applied to thepre-buck unit of the vehicle body assembling system according to theexemplary embodiment of the present disclosure.

FIG. 7 is a perspective view of a guide post applied to the pre-buckunit of the vehicle body assembling system according to the exemplaryembodiment of the present disclosure.

FIGS. 8 and 9 schematically illustrate a hanger combining portion of theguide post applied to the pre-buck unit and a zigzag combining portionof a rotation index applied to the main buck unit of the vehicle bodyassembling system according to the present disclosure.

FIG. 10 is a front schematic diagram of the guide post applied to thepre-buck unit of the vehicle body assembling system according to theexemplary embodiment of the present disclosure.

FIG. 11 is a perspective view of the main buck unit applied to thevehicle body assembling system according to the exemplary embodiment ofthe present disclosure.

FIGS. 12 and 13 are perspective views of side jigs applied to the mainbuck unit of the vehicle body assembling system according to theexemplary embodiment of the present disclosure.

FIG. 14 is a perspective view of a rotation index applied to the mainbuck unit of the vehicle body assembling system according to theexemplary embodiment of the present disclosure.

FIG. 15 is a schematic diagram of the rotation index applied to the mainbuck unit of the vehicle body assembling system according to theexemplary embodiment of the present disclosure.

FIG. 16 schematically shows a vehicle type recognition system of theside jig applied to the main buck unit of the vehicle body assemblingsystem according to the exemplary embodiment of the present disclosure.

FIG. 17 is a flowchart describing a control method of the main buck unitof the vehicle body assembling system according to the exemplaryembodiment of the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

It is understood that the term “vehicle” or “vehicular” or other similarterm as used herein is inclusive of motor vehicles in general such aspassenger automobiles including sports utility vehicles (SUV), buses,trucks, various commercial vehicles, watercraft including a variety ofboats and ships, aircraft, and the like, and includes hybrid vehicles,electric vehicles, plug-in hybrid electric vehicles, hydrogen-poweredvehicles and other alternative fuel vehicles (e.g. fuels derived fromresources other than petroleum). As referred to herein, a hybrid vehicleis a vehicle that has two or more sources of power, for example bothgasoline-powered and electric-powered vehicles.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the disclosure.As used herein, the singular forms “a,” “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising,” when used in this specification, specify thepresence of stated features, integers, steps, operations, elements,and/or components, but do not preclude the presence or addition of oneor more other features, integers, steps, operations, elements,components, and/or groups thereof. As used herein, the term “and/or”includes any and all combinations of one or more of the associatedlisted items. Throughout the specification, unless explicitly describedto the contrary, the word “comprise” and variations such as “comprises”or “comprising” will be understood to imply the inclusion of statedelements but not the exclusion of any other elements. In addition, theterms “unit”, “-er”, “-or”, and “module” described in the specificationmean units for processing at least one function and operation, and canbe implemented by hardware components or software components andcombinations thereof.

Further, the control logic of the present disclosure may be embodied asnon-transitory computer readable media on a computer readable mediumcontaining executable program instructions executed by a processor,controller or the like. Examples of computer readable media include, butare not limited to, ROM, RAM, compact disc (CD)-ROMs, magnetic tapes,floppy disks, flash drives, smart cards and optical data storagedevices. The computer readable medium can also be distributed in networkcoupled computer systems so that the computer readable media is storedand executed in a distributed fashion, e.g., by a telematics server or aController Area Network (CAN).

Hereinafter, the present disclosure will be described more fully withreference to the accompanying drawings, in which exemplary embodimentsof the disclosure are shown. As those skilled in the art would realize,the described embodiments may be modified in various different ways, allwithout departing from the spirit or scope of the present disclosure.

The drawings and description are to be regarded as illustrative innature and not restrictive, and like reference numerals designate likeelements throughout the specification.

FIGS. 1 and 2 are schematic diagrams of a vehicle body assembling systemaccording to an exemplary embodiment of the present disclosure.

Referring to FIGS. 1 and 2, a vehicle body assembling system 100according to the exemplary embodiment of the present disclosure may beapplied to a vehicle body assembly line through which assembly parts ofa vehicle body, conveyed through a vehicle body subassembly line, arewelded and assembled as a complete vehicle body.

The vehicle body assembly line includes a main process for assembling afloor assembly, which is a base of the vehicle body, a side process forassembling side assemblies, which are wall parts of the vehicle body,and a main buck process for assembling the side assemblies to the floorassembly and assembling a cowl, a roof rail, and a package tray to theside assemblies.

Here, the main buck process is a process for fixing a welding fixtureusing large-scale equipment, swinging, rotating, and shifting thewelding fixture, and integrally assembling a side body assembly and anunderbody.

The vehicle body assembling system 100 according to the exemplaryembodiment of the present disclosure may be applied to the main buckprocess that assembles the floor assembly, the side assemblies, thecowl, the roof rail, and the package tray by spot welding equipmentusing a robot in the vehicle body assembly line.

Hereinafter, an example of bonding the side assemblies to opposite sidesof the floor assembly and bonding the cowl, the roof rail, and thepackage tray to the side assemblies will be described in the main buckprocess.

That is, the vehicle body assembling system 100 according to theexemplary embodiment of the present disclosure may assemble sideassemblies 3 to opposite sides of a floor assembly 2 that is conveyedalong a transfer path set along a truck line 1, and may assemble a cowl7, a roof rail 8, and a package tray 9 to the side assemblies 3.

In the exemplary embodiment of the present disclosure, a transferdirection of the floor assembly 2 is defined as a vehicle body transferdirection, and the vehicle body transfer direction is called a Tdirection, a vehicle width direction is called an L direction, and aheight direction of the vehicle body is called an H direction in therelevant field. However, in the exemplary embodiment of the presentdisclosure, the L, T, and H directions are respectively defined as avehicle body transfer direction, a vehicle width direction, and avehicle body height direction.

The vehicle body assembling system 100 according to the exemplaryembodiment of the present disclosure does not form a frame of thevehicle body through a single process, but separates a vehicle bodyassembly process into two processes such that at least 5 or moredifferent types of vehicle bodies can be assembled and the entireequipment can be light-weight.

In particular, the vehicle body assembling system 100 according to theexemplary embodiment of the present disclosure sets a pre-buck section20 and a main buck section 50 partitioned along the transfer path.

In addition, the vehicle body assembling system 100 according to theexemplary embodiment of the present disclosure basically includes apre-buck unit 200 provided in the pre-buck section 20 and a main buckunit 500 provided in the main buck section 50.

The pre-buck unit 200 and the main buck unit 500 may be respectivelyprovided in one frame in each of the pre-buck section 20 and the mainbuck section 50, or may be provided in each frame.

Such a frame is provided to support the above-stated constituentelements, and is equipped with various components such as variousbrackets, a support block, a plate, a housing, a cover, a collar, andthe like. However, the components are provided to install theconstituent elements to the frame, and will be collectively referred toas a frame in the exemplary embodiment of the present disclosure, exceptfor exceptional cases.

In the exemplary embodiment of the present disclosure, the pre-buck unit200 controls a lower portion of the side assembly 3, which is differentdepending on a type of a vehicle, with respect to opposite sides of thefloor assembly 2, and pre-assembles the lower portion of each of theside assemblies 3 to the floor assembly 2. Such a pre-buck unit 200 isprovided in each of the opposite sides of the transfer path of the truckline 1 in the pre-buck section 20.

Meanwhile, in the exemplary embodiment of the present disclosure, asshown in FIG. 3, each of the side assemblies 3 may be divided into alower portion 4 a and an upper portion 4 b with reference to a dottedreference line 4. In addition, the side assembly 3 forms a front pillar5 a, a center pillar 5 b, a rear pillar 5 c, and a rear combination lampportion 5 d. Further, the side assembly 3 forms at least one referencehole 6 for placing the side assembly 3 in the correct position.

FIG. 4 is a perspective view of the pre-buck unit applied to the vehiclebody assembling system according to the exemplary embodiment of thepresent disclosure.

Referring to FIGS. 1 and 4, the pre-buck unit 200 according to theexemplary embodiment of the present disclosure includes a side hanger210, a guide post 310, and a plurality of first welding robots 410 forcontrolling a transfer direction and a height direction of the vehiclebody of the side assembly 3 and pre-assembling the lower portion 4 a(see FIG. 3) of each side assembly 3 to the floor assembly 2.

Here, the pre-assembling implies not a setting assembly performed bylocating the side assembly 3 at the floor assembly 2 of the vehicle bodybut a welding assembly performed by welding the lower portion of theside assembly 3 to the floor assembly 2.

In the exemplary embodiment of the present disclosure, the side hanger210 clamps or grips the lower portion 4 a of the side assembly 3, whichis different depending on a vehicle type, so as to control a transferdirection of the height direction of the side assembly 3.

Such a side hanger 210 may be provided as a common hanger that cancommonly control the lower portion 4 a of the side assembly 3, which isdifferent depending on a vehicle type, at a regular position. The sidehanger 210 is mounted to a first handling robot 281 in the pre-bucksection 20.

Meanwhile, the side hanger 210 may control the lower portion 4 a of theside assembly 3 to be aligned in the predetermined position using anadditional alignment means in the pre-buck section 20. For this, thepre-buck unit 200 according to the exemplary embodiment of the presentdisclosure includes a robot hanger 290 as shown in FIG. 1.

The robot hanger 290 may unload the side assemblies 3 transferred to thepre-buck section 20 through a transfer hanger 110, and may load theunloaded side assemblies 3 to the side hanger 210 using a robot-to-robotmethod while the side assemblies 3 are aligned in the predeterminedposition.

The robot hanger 290 includes an alignment jig 293 mounted to a frontend of an arm of a hanger robot 291. The alignment jig 293 aligns theside assembly 3 in the predetermined position, and may set a referencelocation of the side assembly 3, support an edge portion of the sideassembly 3, and clamp the edge portion. Such an alignment jig 293 is aknown alignment jig in the relevant field, and therefore furtherdetailed description will be omitted.

FIGS. 5 and 6 are perspective views of the side hanger applied to thepre-buck unit of the vehicle body assembling system according to theexemplary embodiment of the present disclosure.

Referring to FIGS. 4 to 6, the side hanger 210 according to theexemplary embodiment of the present disclosure basically includes ahanger frame 211, a reference pin 231, a first clamper 251, and a firstcoupling pin 271.

The hanger frame 211 is mounted to an arm front end of the firsthandling robot 281 (see FIG. 1) that is provided in the pre-buck section20 (see FIG. 1). The hanger frame 211 may be mounted to the arm frontend of the first handling robot 281 or may be separated from the armfront end through a tool changer 213.

The reference pin 231 sets the reference position of the side assembly3, and at least one reference pin 231 is provided in the hanger frame211. The reference pin 231 is pinned in the reference hole 6 of the sideassembly 3 as shown in FIG. 3.

The reference pin 231 may move forward and backward in a front side ofthe hanger frame 211 using a driving means of the reference pin 231, andmay be pinned into the reference hole 6 of the side assembly 6. Further,the reference pin 231 may change its locations in three directions, thatis, the transfer direction, the vehicle width direction, and the heightdirection by the driving means corresponding to the reference hole 6 ofthe side assembly 3, which may be different depending on a vehicle type.

The first clamper 251 clamps only the lower portion 4 a of the sideassembly 3, and is provided in plural to control the vehicle bodytransfer direction and the height direction of the side assembly 3.

The first clampers 251 are respectively provided in opposite endportions of the hanger frame 211, and are provided in plural between theopposite end portions. The first clampers 251 respectively provided atthe opposite end portions of the hanger frame 211 may respectively clampa front side and a rear side (i.e., a rear combination lamp portion) ofthe side assembly 3. The first clampers 251 at the opposite end portionsof the hanger frame 211 are provided therein in a fixed manner

In addition, the plurality of first clampers 251 provided between theopposite end portions of the hanger frame 211 may clamp the front pillar5 a, the center pillar 5 b, and the rear pillar 5 c of the side assembly3 shown in FIG. 3.

Here, the first dampers 251 that correspond to the front pillar 5 a, thecenter pillar 5 b, and the rear pillar 5 c of the side assembly 3 arereciprocally provided along the vehicle body transfer direction by afirst driver 253 such that the locations of the first clampers 251become variable.

The first driver 253 moves the first clampers 251 in the vehicle bodytransfer direction according to locations of pillars of the sideassemblies 3, which are different depending on a vehicle type. Forexample, the first driver 253 may reciprocally move the first clampers251 in the vehicle body transfer direction through a known first guidestructure 257 that is provided with a lead (or a ball) screw and a guiderail to convert a rotation force of a first servomotor 255 to a linearmovement.

In this case, the first clampers 251 may be provided in a triangularstructure so as to stably grip the lower portion of the side assembly 3with reference to the center of the side assembly 3.

Further, a plurality of installation left sides 261 are provided in thehanger frame 211 for additionally installing the first clampers 251corresponding to the side assemblies 3 that are different depending on avehicle type.

The above-stated fixed or location-variable first dampers 251 may bemounted to the installation left sides 261 corresponding to the sideassemblies 3 that are different depending on a vehicle type.

The first coupling pins 271 are provided to couple the hanger frame 211that controls the lower portion 4 a of the side assembly 3 through thefirst dampers 251 to the guide post 310 from the back.

The first coupling pins 271 are provided in plural in a rear lowerportion of the hanger frame 211. The first coupling pins 271 are mountedto the rear lower portion of the hanger frame 211 through a firstinstallation bracket 273. The first coupling pints 271 protrude in alower direction in the first installation bracket 273.

The first coupling pin 271 forms a first ball coupling groove 275 alonga circumference direction with a cylinder shape. A coupling structure ofthe first coupling pin 271 and the guide post 310 will be describedlater in detail.

FIG. 7 is a perspective view of the guide post applied to the pre-buckunit of the vehicle body assembling system according to the exemplaryembodiment of the present disclosure.

Referring to FIGS. 4 and 7, the guide post 310 according to theexemplary embodiment of the present disclosure is coupled with the sidehanger 210 that controls the side assembly 3 in the pre-buck section 20,and precisely matches the side assemblies 3 to the opposite sides of thefloor assembly 2 (see FIG. 1).

Further, the guide post 310 according to the exemplary embodiment of thepresent disclosure controls location variation of the side assembly 3,which may occur when the first handling robot 281 handles the sidehanger 210 that controls the side assembly 3, and minimizes assemblyvariation of the side assemblies 3 with respect to the opposite sides ofthe floor assembly 2.

The guide post 310 is provided in each of the opposite sides of thetransfer path of the truck line 1 (see FIG. 1) in the pre-buck section20, is coupled with the side hanger 210 through the first handling robot281, and is reciprocally provided in the vehicle width direction withrespect to the opposite sides of the floor assembly 2.

The guide post 310 may be reciprocally movable in the vehicle widthdirection in a pre-buck frame 311 at the opposite sides of the transferpath of the pre-buck section 20. Such a guide post 310 includes a firstmovement member 321, a post frame 331, and a hanger coupling portion351.

The first movement member 321 is provided to be reciprocative along thevehicle width direction with respect to the opposite sides of the floorassembly 2 through a second driver 313 in the pre-buck frame 311 at theopposite sides of the transfer path. For example, the first movementmember 321 is provided with a plate shape, and is reciprocative alongthe vehicle width direction by the second driver 313 in the upper sideof the pre-buck frame 311.

Here, the second driver 313 is provided to make the first movementmember 321 be reciprocative along the vehicle width direction. Thesecond driver 313 can make the first movement member 321 reciprocativealong the vehicle width direction using a second guide structure 317which is a known structure and is provided with a lead (or a ball) screwand a guide rail that convert a rotation force of the second servomotor315 to linear movement.

Such a second driver 313 is provided as an electric driver or a movingdevice which is well known in the field, and therefore no furtherdetailed description will be provided.

The pre-buck frame 311 may be provided with a first stopper 319 thatdetermines a regular position of the first movement member 321 thatmoves along the vehicle width direction by the second driver 313. Thefirst stopper 319 may be provided in each of opposite ends of the guiderail in the pre-buck frame 311.

The post frame 331 provided as a pair is substantially coupled with theside hanger 210 through the first handling robot 281, and the pair ofpost frames 331 are disposed at a distance from each other in thevehicle body transfer direction on the first movement member 321.

Such a post frame 331 is provided with a structure in which a pluralityof metal bars are connected in the vehicle body transfer direction, thevehicle width direction, and the height direction, and the post frames331 may be perpendicularly disposed at a distance from each other alongthe vehicle body transfer direction on the first movement member 321.The post frames 331 respectively include mounting surfaces formed onupper surfaces thereof such that the side hanger 210 can be mounted onthe mounting surfaces of the post frames 331.

As shown in FIGS. 5 and 6, the hanger coupling portion 351 couples thehanger frame 211 of the side hanger 210, which controls the sideassembly 3 through the first dampers 251, to the post frames 331.

The hanger coupling portion 351 is provided in plural, and the pluralityof hanger coupling portions 351 are respectively provided in themounting surfaces of the post frames 331. The hanger coupling portion351 is pin-coupled with the first coupling pin 271 provided in thehanger frame 211 to clamp the first coupling pin 271.

FIGS. 8 and 9 schematically show the hanger coupling portion of theguide post applied to the pre-buck unit of the vehicle body assemblingsystem according to the exemplary embodiment of the present disclosure.

Referring to FIGS. 8 and 9, along with FIGS. 5 and 6, the hangercoupling portion 351 according to the exemplary embodiment of thepresent disclosure includes a first pin housing 353 and a first ballclamp 355.

The first pin housing 353 is provided to be fixed to the mountingsurface of the post frame 331. The first coupling pin 271 of the sidehanger 210 is fitted into the first pin housing 353.

The first ball clamp 355 is provided in the first pin housing 353 andclamps the first coupling pin 271 fitted into the first pin housing 353with a plurality of balls 356 and air pressure.

For example, the first ball clamp 355 includes a support race 357 thatsupports the balls 356 to be rollable, a pair of first race members 358provided to be movable to the center from an outer side of thecircumferential direction of the first coupling pin 271, and a thirddriver 359 that provides a driving pressure to the first race member358. The support race 357 is provided as a circular race that supportsthe balls 356 to be rollable, and the pair of first race members 358serve to press the balls 356 while moving to the center from the outerside of the circumferential direction of the first coupling pin 271.

In addition, the third driver 359 provides air pressure to the firstrace member 358, and is provided as an air supply source that pressesthe balls 356 while moving to the center from the outer side of thecircumferential direction of the first coupling pin 271.

As shown in FIG. 8, when the first coupling pin 271 is not coupled tothe first pin housing 353, air pressure is not supplied to the firstrace member 358 through the third driver 359, and in this case, theballs 356 maintain a free-rollable state in the support race 357.

In addition, as shown in FIG. 9, when the first coupling pin 271 iscoupled to the first pin housing 353, the air pressure is supplied tothe first race member 358 through the third driver 359 such that thefirst race member 358 presses the balls 356 on the support race 357while moving to the center from the outer side of the circumferentialdirection of the first coupling pin 271.

Accordingly, the balls 356 are coupled to the first ball coupling groove275 of the first coupling pin 271 such that the first coupling pin 271can be firmly fixed to the first pin housing 353.

Thus, in the exemplary embodiment of the present disclosure, the firstcoupling pin 271 of the side hanger 210 is clamped by the hangercoupling portion 351 using a ball clamping method such that the sidehanger 210 can be coupled to the post frame 331.

In the drawings, there are four hanger coupling portions 351 provided inthe post frames 331 (i.e., two hanger coupling portions 351 for eachpost frame 331), but this is not restrictive. Three hanger couplingportions 351 may be provided in the post frames 331.

Alternatively, the hanger coupling portion 351 may be provided with atriangle structure in the post frames 331 so as to stably couple theside hanger 210 to the post frames 331.

Meanwhile, in the exemplary embodiment of the present disclosure, theside assemblies 3 may be moved to the opposite sides of the floorassembly 2, respectively, by the first movement members 321 while theside hangers 210 that control the side assemblies 3 are beingrespectively coupled to the hanger coupling portions 351 of the postframes 331 by the first handling robots 281.

In such a process, the first handling robots 281 may be moved insynchronization with the first movement member 321 without beingseparated from the hanger frames 211 of the side hangers 210. Thus, inthe exemplary embodiment of the present disclosure, a process forseparating arms of the first handling robots 281 from the hanger frames211 and re-coupling the arms to the hanger frames 211 can be omitted.

Meanwhile, in the exemplary embodiment of the present disclosure, whenthe side assemblies 3 are moved to the opposite sides of the floorassembly 2 through the first movement member 321, the arms of the firsthandling robots 281 may be separated from the hanger frames 211.

When the arms of the first handling robots 281 are separated from thehanger frames 211, a driving source supplied to the side hangers 210through the first handling robots 281 may be blocked.

Thus, as shown in FIG. 10, in the exemplary embodiment of the presentdisclosure, a driving source supply potion 371 that supplies a drivingsource to the side hanger 210 is provided in the post frame 331. Here,the driving source may include a power source, air pressure, a controlsignal, and the like for driving the first clamper 251 (see FIG. 5) ofthe side hanger 210. That is, the driving source supply portion 371 mayinclude a feeding portion, an air supply portion, and a wirelesscommunication portion.

Meanwhile, as shown in FIGS. 7 and 10, the guide post 310 according tothe exemplary embodiment of the present disclosure further include aplurality of second dampers 381 that clamp the bottommost portion of theside assembly 3 while the side hangers 210 that control the sideassemblies 3 are coupled to the hanger coupling portions 351 of the postframes 331.

Apart from the side hanger 210, the second clampers 381 are disposed ata distance from each other along the vehicle body transfer direction inthe first movement member 321. The second clampers 381 may clamp a lowerside seal of the side assembly 3.

Here, the second dampers 381 may be provided reciprocative to three axisdirections (the vehicle body transfer direction, the vehicle widthdirection, and the height direction) by a fourth driver 383corresponding to the side assembly 3, which is different according to avehicle type.

The fourth driver 383 converts a rotation force of a servomotor to alinear movement, and the second clampers 381 may move reciprocative tothe three axis directions through a fourth guide structure 387, which isa known structure that includes a lead (or a ball) screw that performs alinear movement by an air pressure cylinder, a cylinder rod, and a guiderail.

Such a fourth driver 383 is provided as a three-axis electric driver ora moving device which is well known in the field and therefore nofurther description will be provided.

Further, in the exemplary embodiment of the present disclosure, a firstlocation sensor 391 is further included. The first location sensor 391senses location of the side assembly 3, which is different according toa vehicle type, and controls the fourth driver 383 of the secondclampers 381 according to a sense signal (see FIG. 10).

The first location sensor 391 is provided in the second clamper 381. Forexample, the first location sensor 391 may include a laser displacementsensor that irradiates a laser beam to an object to be sensed, receivesa laser beam reflected from the object, and senses a location of theobject.

Thus, in the exemplary embodiment of the present disclosure, a controlsignal is applied to the fourth driver 383 through a controlleraccording to the sense signal of the first location sensor 391, andcorrects a control location of the second clamper 381 corresponding tothe side assembly 3, which is different according to a vehicle type, bychanging the location of the second clamper 381 in the third axisdirections.

Referring to FIG. 1, the first welding robots 410 weld the lowerportions 4 a of the side assemblies 3 disposed in regular portions atthe opposite sides of the floor assembly 2 by the side hangers 210 andthe guide posts 310 to the floor assembly 2.

The first welding robots 410 are provided in plural along the vehiclebody transfer direction, and a spot welding device is provided in an armfront end of each robot.

Such a first welding robot 410 is provided as a spot welding robot,which is well known in the art, and therefore no further descriptionwill be provided.

Hereinafter, the main buck unit 500 of the vehicle body assemblingsystem 100 according to the exemplary embodiment of the presentdisclosure will be described in detail.

Referring to FIGS. 1 and 2, the main buck unit 500 according to theexemplary embodiment of the present disclosure assembles vehicle bodyparts to the side assemblies 3 of the vehicle body, transferred to themain buck section 50 through the truck line 1. In this case, the sideassemblies 3 are in a state of being pre-assembled and thus the lowerportions 4 a of the side assemblies 3 are pre-assembled to the floorassembly 2 by the pre-buck unit 200 in the pre-buck section 20.

That is, the main buck unit 500 controls the upper portion 4 b (see FIG.3) of the side assembly 3 in the main buck section 50, and welds thevehicle body parts to the upper portion 4 b of the side assembly 3.Here, the vehicle body parts may include the cowl 7, the roof rail 8,and the package tray 9.

Such a main buck unit 500 is provided in opposite sides of the transferpath of the truck line 1 in the main buck section 50.

FIG. 11 is a perspective view of the main buck unit applied to thevehicle body assembling system according to the exemplary embodiment ofthe present disclosure.

Referring to FIG. 11, along with FIGS. 1 and 2, the main buck unit 500according to the exemplary embodiment of the present disclosure includesa side jig 510, a rotation index 610, a CRP loading portion 710, and asecond welding robot 810 to control a vehicle width direction of theside assembly 3 and assemble the upper portion 4 b of the side assembly3 and the vehicle body parts.

In the exemplary embodiment of the present disclosure, the side jig 510clamps or grips the upper portion 4 b of the side assembly 3 andcontrols the vehicle width direction of the side assembly 3 in the mainbuck section 50. The side jig 510 is provided in plural corresponding tothe side assemblies 3, which are different according to a vehicle type.In addition, the side jig 510 can be mounted to a second handling robot581 in the main buck section 50, and may be detached from/attached tothe rotation index 610 through the second handling robot 581.

Since the side jigs 510 are provided in plural corresponding to the sideassembly 3 that is different depending on a type of the vehicle, astorage portion 910 is provided to store the side jigs 510 in the mainbuck section 50.

As described, the side jigs 510 stored in the storage portion 910 may beattached to/detached from the rotation index 610 through the secondhandling robot 581 according to the side assembly 3 that is differentdepending on a type of the vehicle.

FIGS. 12 and 13 are perspective views of the side jig applied to thevehicle body assembling system according to the exemplary embodiment ofthe present disclosure.

Referring to FIGS. 11 to 13, the side jig 510 according to the exemplaryembodiment of the present disclosure basically includes a jig frame 511,third clampers 531, and second coupling pins 551.

The jig frame 511 is mounted to an arm front end of each of the secondhandling robots 581 (see FIG. 1) disposed in the main buck section 50(see FIG. 1). The jig frame 511 may be mounted to the arm front ends ofthe second handling robots 581 or may be separated therefrom through atool changer 513.

The third clampers 531 are provided in the jig frame 511, and clamp theupper portions 4 b of the side assemblies 3 and control the widthdirection of each side assembly 3 in the main buck section 50.

The third clampers 531 are respectively disposed at opposite endportions of the jig frame 511, and provided in plural between theopposite end portions of the jig frame 511. The first clampers 531respectively disposed at the opposite end portions of the jig frame 511may clamp a front side and a rear side (i.e., a rear combination lamp)of the upper portion 4 b of the side assembly 3. In addition, theplurality of third clampers 531 disposed between the opposite endportions of the jig frame 511 may clamp a pillar side of the upperportion 4 b of the side assembly 3.

The second coupling pin 551 couples the jig frame 511 to the rotationindex 610, which will be described later. The second coupling pin 551 isprovided in plural in the rear side of the jig frame 511. The secondcoupling pin 551 protrudes in the bottom direction of the jig frame 511from the bottom of the jig frame 511 through a second installationbracket 553.

Such a second coupling pin 551 forms a round-shaped second ball couplinggroove 555 along a circumferential direction in the cylindrical shape. Acoupling structure of the second coupling pin 551 and the rotation index610 will be described in detail later.

FIG. 14 is a perspective view of the rotation index applied to the mainbuck unit of the vehicle body assembling system according to theexemplary embodiment of the present disclosure.

Referring to FIGS. 11 and 14, the rotation index 610 according to theexemplary embodiment of the present disclosure is coupled with the sidejig 510 in order to control a regular position of the upper portion 4 bof the side assembly 3 through the side jig 510 in the main buck section50.

In addition, the rotation index 610 according to the exemplaryembodiment of the present disclosure controls location variation of theside assembly 3 and minimizes assembly variation of the side assembly 3.

Further, the rotation index 610 of the exemplary embodiment of thepresent disclosure installs a plurality of side jigs 510 that correspondto the side assembly 3 that is different depending on a type of thevehicle, and controls the upper portion 4 b of the side assembly 3 whilerotatably selecting a side jig 510 of the corresponding type of thevehicle.

The rotation index 610 is provided to be rotatable by a predeterminedangle by being coupled with the side jig 510 at opposite sides of thetransfer path of the main buck section 50, and becomes reciprocativelymovable along the vehicle width direction in a main buck frame 611.

Such a rotation index 610 includes a second movement member 621, anindex frame 631, a rotator 641, a jig coupling portion 651, and a fourthclamper 671.

The second movement member 621 provided at opposite sides of thetransfer path of the main buck section 50 can be reciprocatively movablealong the vehicle width direction in the main buck frame 611 withrespect to the side assemblies 3 of which the lower portions arepre-assembled to the floor assembly 2 through a fifth driver 513.

For example, the second movement members 621 are respectively formed inthe shape of a plate, and they are reciprocatively movable along thevehicle width direction by the fifth driver 613 in the upper side of themain buck frame 611.

Here, the fifth driver 613 is provided to make the second movementmembers 621 reciprocatively movable along the vehicle width direction.The fifth driver 613 enables the second movement members 621 to bereciprocatively movable along the vehicle width direction through afifth guide structure 617, which is a well-known structure in the art,and includes a lead (or a ball) screw that converts a rotation force ofa fifth servomotor 615 to a linear movement, and a guide rail.

Such a fifth driver 613 is an electric driver or a moving device knownin the art, and therefore no further detailed description will beprovided.

Meanwhile, a second stopper 619 that determines a regular position ofthe second movement member 621 moving along the vehicle width directionby the fifth driver 613 may be provided in the main buck frame 611. Thesecond stopper 619 may be provided in each of the opposite ends of theguide rail in the main buck frame 611.

The index frame 631 is provided as a pair to make the rotator 641, whichwill be described later, to be rotatable, and each of the pair of theindex frames 631 is distanced from one another along the vehicle bodytransfer direction on the second movement members 621.

Such an index frame 631 is formed with a structure in which a pluralityof metal bars are connected in the vehicle body transfer direction, thevehicle width direction, and the height direction, and therefore theindex frames 631 may be perpendicularly provided on the second movementmembers 621 with a constant interval along the vehicle body transferdirection.

The rotator 641 is coupled with the side jig 510 that corresponds to theside assembly 3 that is different depending on a type of the vehiclethrough the second handling robot 581, and has four sides that canreplace the side jig in a detachable manner and is rotatably provided inthe index frame 631.

Opposite ends of the rotator 641 are rotatably supported by the indexframes 631, and the rotator 641 may rotate by a predetermined angle(i.e., 90 degrees) through a sixth driver 643. For example, the sixthdriver 643 includes a sixth servomotor 645 that is fixed to the indexframe 631.

As shown in FIGS. 12 and 13, the jig coupling portion 651 is provided tocouple the jig frame 511 of the side jig 510 to the rotator 641. The jigcoupling portion 651 is provided in plural, and a plurality of jigcoupling portions 651 are provided in each side of the rotator 641. Thejig coupling portions 651 are coupled with the second coupling pins 551provided in the jig frame 511 to clamp the second coupling pins 551.

Referring to FIGS. 12 and 13, along with FIGS. 8 and 9, the jig couplingportion 651 according to the exemplary embodiment of the presentdisclosure includes a second pin housing 653 and a second ball clamp655.

The second pin housing 653 is provided to be fixed to each side of therotator 641. The second coupling pin 551 of the side jig 510 is fittedinto the second pin housing 653.

The second ball clamp 655 clamps the second coupling pin 551 fitted intothe second pin housing 653 with a plurality of balls 656 and airpressure, and is provided in the second pin housing 653.

For example, the second ball clamp 655 includes a support race 657 thatsupports the balls 656 to be rollable, a pair of second race members 658that are provided to be movable to the center of the second coupling pin551 from an outer side of a circumferential direction of the secondcoupling pin 551, and a seventh driver 659 that supplies a drivingpressure to the second race members 658.

The support race 657 is provided as a circular race that supports theballs 656 to be rollable, and the pair of second race members 658 pressthe balls 656 while moving to the center from the outer side of thecircumferential direction of the second coupling pin 551.

In addition, the seventh driver 659 provides air pressure to the secondrace member 658, and thus is provided as an air supply source thatpresses the balls 656 while moving the second race member 658 to thecenter of the second coupling pin 551 from the outer side of thecircumferential direction of the second coupling pin 551.

As shown in FIG. 8, when the second coupling pin 551 is not coupled tothe second pin housing 653, air pressure is not supplied to the secondrace member 658 through the seventh driver 659 such that the balls 656maintain a free-rollable state on the support race 657.

Further, as shown in FIG. 9, when the second coupling pin 551 is coupledto the second coupling pin 551, the second race member 658 is suppliedwith air pressure through the seventh driver 659 such that the secondrace member 658 moves to the center from the outer side of thecircumferential direction of the second coupling pin 551 and presses theballs 656 on the support race 657.

Thus, the balls 656 are coupled to the second ball coupling grooves 555by the second race 656, such that the second coupling pin 551 can befirmly fixed to the second pin housing 653.

Therefore, in the exemplary embodiment of the present disclosure, thesecond coupling pin 551 of the side jig 510 is clamped by the jigcoupling portion 651 using a ball clamp method such that the side jig510 can be coupled to each side of the rotator 641.

The jig coupling portion 651 may be provided with a triangle structurein the rotator 641 so as to more stably couple the side jig 510 to therotator 641.

As shown in FIGS. 11 and 14, the fourth clamper 671 is provided inplural in each side of the rotator 641 so as to fix the side jigs 510 tothe rotator 641.

The fourth clampers 671 are provided at opposite sides in each side ofthe rotator 641. For example, the fourth clamper 671 moves back andforth by a pneumatic cylinder, and may be provided as a pin clamber thatcan be pin-coupled to the jig frame 511 of the side jig 510.

Meanwhile, a second location sensor 591 is further included in theexemplary embodiment of the present disclosure. The second locationsensor 591 senses a location of the side assembly 3 while the upperportion of the side assembly 3 is controlled by the third clambers 531of the side jig 510 after moving the rotator 641 coupled with the sidejig 510 to the side assembly 3.

The second location sensor 591 is provided as a location sensor thatsenses a location of the side assembly 3 and controls the fifth driver613 of the second movement member 621 according to a sense signal, andis provided in the index frame 631.

For example, the second location sensor 591 may include a laserdisplacement sensor that irradiates a laser beam to an object to besensed, receives a laser beam reflected by the object, and senses alocation of the object.

In the exemplary embodiment of the present disclosure, while the upperportion of the side assembly 3 is controlled by the third dampers 531 ofthe side jig 510, the location of the side assembly 3 is sensed by thesecond location sensor 591 and a sense signal is output to a controller(not shown in the drawing).

Thus, in the exemplary embodiment of the present disclosure, a controlsignal is applied to the fifth driver 631 through the controlleraccording to the sense signal of the second location sensor 591, and thesecond movement member 621 is moved in the vehicle width direction tothereby correct a position of the side assembly 3.

Alternatively, the second location sensor 591 may be provided in thethird damper 531 of the side jig 510 instead of being provided in theindex frame 631.

As shown in FIG. 16, a vehicle type tag 931 is provided in the jig frame511 of the side jig 510, and a tag reader 933 may be provided in eachside of the rotator 641.

The vehicle type tag 931 stores information on a type of the vehiclewith respect to each side jig 510 because a plurality of side jigs 510are provided respectively corresponding to side assemblies 3 that aredifferent depending on a type of the vehicle. The tag reader 933recognizes the information on a type of the vehicle with respect to eachside jig 510 through the controller.

Referring to FIG. 2, in the exemplary embodiment of the presentdisclosure, a CRP loading portion 710 transfers vehicle body parts thatinclude the cowl 7, the roof rail 8, and the package tray 9 to the upperportion 4 b of the side assembly 3, and places the transferred parts inthe upper portion 4 b of the side assembly 4 b. Here, the CRP is acombination of C representing the cowl, R representing the roof rail,and P representing the package tray.

The CRP loading portion 710 is provided in an upper side of the transferpath of the truck line 1 to be moveable along the transfer path, and canbe elevated with respect to the upper side of the side assembly 3 in themain buck section 50.

The CRP loading portion 710 includes various clamping devices andcontrol devices to control locations of the cowl 7, the roof rail 8, andthe package tray 9, and to clamp the cowl 7, the roof rail 8, and thepackage tray 9.

Referring back to FIGS. 1 and 2, the second welding robot 810 accordingto the exemplary embodiment of the present disclosure welds the cowl 7,the roof rail 8, and the package tray 9 to the upper portion 4 b of theside assembly 3.

The second welding robot 810 welds the vehicle body parts (i.e., thecowl 7, the roof rail 8, and the package tray 9) and the upper portion 4b of the side assembly 3 while the upper portion 4 b of the sideassembly 3 are controlled by the side jig 510 and the rotation index 610and the vehicle body parts are located in the regular positions in theupper portion 4 b of the side assembly 3 by the CRP loading portion 710.

The second welding robot 810 is provided in plural along the vehiclebody transfer direction in the main buck section 50, and a spot weldingdevice is provided in an arm front end of each robot. Such a secondwelding robot 810 is provided as a spot welding robot, which is wellknown in the art, and therefore no further description will be provided.

Hereinafter, an operation and a vehicle body assembly process of thevehicle body assembling system 100 according to the exemplary embodimentof the present disclosure will be described in detail with reference tothe above-stated drawings.

First, the floor assembly 2 assembled in the subassembly line istransferred to the pre-buck section 20 among a predetermined transferpath through the truck line 1.

In the pre-buck section 20, the side hanger 210 of the pre-buck unit 200is in a state of being mounted to the front end of the arm of the firsthandling robot 281. In addition, the guide post 310 of the pre-buck unit200 is in a state of being moved backward in a direction (i.e., thevehicle width direction) that is away from the floor assembly 2 at theopposite sides of the transfer path by the second driver 313.

The side assembly 2 that is different depending on a type of the vehicleis transferred to the pre-buck section 20 through the transfer hander110, and in the exemplary embodiment of the present disclosure, the sideassembly 2 is unloaded from the transfer hanger 110 through the robothanger 290.

The robot hanger 290 clamps the side assembly 3 while the side assembly3 is aligned in a predetermined location using the alignment jig 293. Inthis case, in the exemplary embodiment of the present disclosure, theside assembly 3 is loaded to the side hanger 210 by the robot hanger 290using a robot-to-robot method.

Here, the reference pin 231 of the side hanger 210 is fitted into thereference hole 6 of the side assembly 3 to set a reference location ofthe side assembly 3. In addition, the first dampers 251 of the sidehanger 210 clamp the lower portion 4 a of the side assembly 3.

In this case, the first clampers 251 provided at the opposite sides ofthe hanger frame 211 of the side hanger 210 clamp a front side and arear side (i.e., a rear combination lamp) of the side assembly 3.

In addition, the plurality of first clampers 251 provided between theopposite ends of the hanger frame 211 respectively clamp the frontpillar 5 a, the center pillar 5 b, and the rear pillar 5 c of the sideassembly 3.

In this case, the plurality of first clampers 251 provided between theopposite ends of the hanger frame 211 respectively clamp the frontpillar 5 a, the center pillar 5 b, and the rear pillar 5 c of the sideassembly 3 while being moved in the vehicle body transfer direction bythe first driver 253 according to locations of the pillars of the sideassembly 3 that is different depending on a type of the vehicle.

In the exemplary embodiment of the present disclosure, the first clamper251 may be additionally provided in the installation left side 261 ofthe hanger frame 211 corresponding to the side assembly 3 that isdifferent depending on a type of the vehicle.

In such a state, the side hanger 210 that controls the side assembly 3is transferred to the guide post 310 by the first handling robot 281 inthe exemplary embodiment of the present disclosure.

Next, in the exemplary embodiment of the present disclosure, the firstcoupling pin 271 provided in the hanger frame 211 is coupled to thehanger coupling portion 351 of the post frame 331 such that the sidehanger 210 is coupled to the post frame 331 of the post 210 using thefirst handling robot 281.

More specifically, before the first coupling pin 271 is coupled to thefirst pin housing 353 of the hanger coupling portion 351, the first racemember 358 is not supplied with air pressure through the third driver359 in the first ball clamp 355 of the hanger coupling portion 351, andin this case, the balls 356 are in the free-rollable state on thesupport race 357.

In this case, when the first coupling pin 271 is coupled to the firstpin housing 353, air pressure is supplied to the first race member 358through the third driver 359 in the exemplary embodiment of the presentdisclosure.

Then, the first race member 358 moves to the center of the firstcoupling pin 271 from the outer side of the circumferential direction ofthe first coupling pin 271 by the air pressure such that the balls 356on the support race 357 are pressed.

Here, the balls 356 are coupled to the ball coupling groove 275 of thefirst coupling pin 271 by the first race member 358, and the firstcoupling pin 271 is fixed to the first pin housing 353.

Thus, in the exemplary embodiment of the present disclosure, the firstcoupling pin 271 of the side hanger 210 is clamped by the hangercoupling portion 351 using a ball clamp method such that the side hanger210 can be coupled to the post frame 331.

While the side hanger 210 that controls the side assembly 3 is coupledto the hanger coupling portion 351 of the post frame 331, the lower sideseal of the side assembly 3 is clamped by the second clampers 381 on thefirst movement member 321 in the exemplary embodiment of the presentdisclosure.

Here, the second clampers 381 can clamp the lower side seal of the sideassembly 3 while moving in the three axis directions of the vehicle bodytransfer direction, the vehicle width direction, and the heightdirection by the fourth driver 383 corresponding to the side assembly 3that is different depending on a type of the vehicle.

In this case, a location of the side assembly 3 is sensed by the firstlocation sensor 391 and a sense signal is output to the controller inthe exemplary embodiment of the present disclosure. Then, in theexemplary embodiment of the present disclosure, the location of thesecond clamper 381 is changed in three axis directions while applyingthe control signal to the fourth driver 383 through the controlleraccording to the sense signal of the first location sensor 391 such thatthe locations of the second dampers 381 can be corrected correspondingto the side assembly 3 that is different depending on a type of thevehicle.

Next, in the exemplary embodiment of the present disclosure, the firstmovement member 321 of the guide post 310 is moved toward the oppositesides of the floor assembly 2 along the vehicle width direction bydriving of the second driver 313.

That is, in the exemplary embodiment of the present disclosure, the sideassemblies 3 controlled by the side hanger 210 coupled to the post frame331 on the first movement member 321 and the second clampers 381 on thefirst movement member 321 are moved to the opposite sides of the floorassembly 2 by the first movement members 321.

In such a process, the first handling robots 281 may be synchronizedwith the first movement members 321 rather than separating the arms ofthe first handling robots 281 from the hanger frame 211 of the sidehanger 210 in the exemplary embodiment of the present disclosure.

Alternatively, in the exemplary embodiment of the present disclosure,the arms of the first handling robots 281 may be separated from thehanger frame 211. In such a case, the driving source supply 371 providedin the post frame 331 supplies a driving source such as power, airpressure, and a control signal to the first clampers 251 of the sidehanger 210.

In the exemplary embodiment of the present disclosure, the sideassemblies 3 can be precisely matched to the opposite sides of the floorassembly 2 while moving the side assemblies 3 to the opposite sides ofthe floor assembly 2 using the guide post 310.

Further, in the exemplary embodiment of the present disclosure, locationvariation of the side assembly 3, which may occur while the firsthandling robot 281 is handling the side hanger 210 that controls theside assembly 3, can be controlled by the guide post 310 such that thelocation variation of the side assemblies 3 with respect to the oppositesides of the floor assembly 2 can be minimized

Thus, in the exemplary embodiment of the present disclosure, the lowerportion 4 a of the side assembly 3 can be placed in the regular positionat each of the opposite sides of the floor assembly 2 while controllingthe vehicle body transfer direction and the height direction of the sideassembly 3 with the side hanger 210 and the second clampers 381.

In such a state, in the exemplary embodiment of the present disclosure,the lower portions 4 a of the side assemblies 3 are pre-assembled to theopposite sides of the floor assembly 2 by welding the lower portions 4 aof the side assemblies 4 to the floor assembly 2 using the first weldingrobots 410.

The lower portions 4 a of the side assemblies 3 are pre-assembled to theopposite sides of the floor assembly 2 in the pre-buck unit 200 throughthe pre-buck section 20 through such a series of processes, and then thepre-assembled vehicle body is transferred to the main buck section 50along the transfer path of the truck line 1 in the exemplary embodimentof the present disclosure.

In the exemplary embodiment of the present disclosure, the plurality ofside jigs 510 that correspond to the side assembly 3 that is differentdepending on a type of the vehicle are stored in the storage portion 910in the main buck section 50.

In addition, the side jig 510 that corresponding to the side assembly 3that is different depending on a type of the vehicle is coupled to eachside of the rotator 641 in the rotation index 610 of the main buck unit500 in the main buck section 50. Here, the rotation index 610 is in astate of being moved backward in a direction (i.e., the vehicle widthdirection) that is away from the pre-assembled vehicle body by the fifthdriver 613 at the opposite sides of the transfer path.

As described, when the pre-assembled vehicle body is transferred to themain buck section 50 from the pre-buck section 20, the rotator 641 ofthe rotation index 610 is rotated to place the side jig 510 of thecorresponding vehicle type that corresponds to the side assembly 3 thatis different depending on a type of the vehicle to the side assembly 3of the pre-assembled vehicle body in the exemplary embodiment of thepresent disclosure.

Next, in the exemplary embodiment of the present disclosure, the secondmovement member 621 of the rotation index 610 is moved toward the sideassembly 3 along the vehicle width direction by driving the fifth driver613.

That is, in the exemplary embodiment of the present disclosure, therotator 641 on which the side jig 510 is mounted, while being supportedby the index frame 631 on the second movement member 621, is movedtoward the side assembly 3 by the second movement member 621.

Next, in the exemplary embodiment of the present disclosure, the vehiclewidth direction of the side assembly 3 is controlled while clamping theupper portion 4 b of the side assembly 3 using the third clampers 531 ofthe side jig 510.

Here, the third dampers 531 provided at the opposite ends of the jigframe 511 of the side jig 510 clamp the front side and the rear side(i.e., rear combination lamp) of the upper portion 4 b of the sideassembly 3. In addition, the plurality of third clampers 531 providedbetween the opposite ends of the jig frame 511 clamp the pillars of theupper portion 4 b of the side assembly 3.

In this case, in the exemplary embodiment of the present disclosure, thesecond location sensor 591 senses a location of the side assembly 3 andoutputs a sense signal to the controller. Then, in the exemplaryembodiment of the present disclosure, a control signal is applied to thefifth driver 613 through the controller according to the sense signal ofthe second location sensor 591, and the second movement member 621 ismoved in the vehicle width direction such that the location of the sideassembly 3 can be corrected.

Next, in the exemplary embodiment of the present disclosure, the CRPloading portion 710 transferred to the main buck section 50 along thetransfer path of the truck line 1 from the upper side of the transferpath is lowered to the upper side of the side assembly 3.

The CRP loading portion 710 is lowered to the upper side of the sideassembly 3 while controlling the vehicle body parts, such as the cowl 7,the roof rail 8, and the package tray 9. Thus, the cowl 7, the roof rail8, and the package tray 9 are located in the upper portion 4 b of theside assembly 3 by the CRP loading portion 710.

In such a state, the vehicle body parts and the upper portion 4 b of theside assembly 3 are welded by the second welding robot 810 in theexemplary embodiment of the present disclosure.

Meanwhile, in the exemplary embodiment of the present disclosure, theside jig 510 coupled to the rotator 641 may be replaced with a side jig510 that corresponds to a side assembly 3 of a different type of thevehicle.

In this case, in the exemplary embodiment of the present disclosure,when the vehicle body parts and the upper portion 4 b of the sideassembly 3 are welded by the second welding robot 810, the side jig 510coupled to the upper side of the rotator 641 may be replaced withanother side jig 510 corresponding to a side assembly 3 of a differenttype of the vehicle using the second handling robot 581.

In the exemplary embodiment of the present disclosure, while the sidejig 510 coupled to the upper side of the rotator 641 is separated fromthe rotator 641 by the second handling robot 581 or the side jig 510 isnot coupled to the upper side of the rotator 641, a different side jig510 is coupled to the upper side of the rotator 641 by the secondhandling robot 581. In the exemplary embodiment of the presentdisclosure, the second coupling pin 551 provided in the jig frame 511 ofthe side jig 510 is coupled to the jig coupling portion 651.

More specifically, before the second coupling pin 551 is coupled to thesecond pin housing 653 of the jig coupling portion 651, the second racemember 658 is not supplied with air pressure through the seventh driver659, and in this case, the balls 656 are in the free-rollable state onthe support race 657.

In such a state, when the second coupling pin 551 is coupled to thesecond pin housing 653, the air pressure is supplied to the second racemember 658 by the seventh driver 659 in the exemplary embodiment of thepresent disclosure. Then, the second race member 658 moves to the centerof the second coupling pin 51 from the outer side of the circumferentialdirection of the second coupling pin 551 by the air pressure such thatthe balls 656 on the support race 657 are pressed.

Here, the balls 656 are coupled to the second ball coupling grooves 555of the second coupling pin 551 by the second race members 658, and thusthe second coupling pin 551 is fixed to the second pin housing 653.

Thus, in the exemplary embodiment of the present disclosure, the secondcoupling pin 551 of the side jig 510 can be clamped by the jig couplingportion 651 that uses a ball clamp method such that the side jig 510 canbe coupled to the upper side of the rotator 641.

Further, in the exemplary embodiment of the present disclosure, whilethe side jig 510 is coupled to the rotator 641 by the jig couplingportion 651, the jig frame 511 of the side jig 510 is fixed to therotator 641 by the fourth clampers 671 provided in the rotator 641. Thefourth damper 671 is pin-coupled to the jig frame 511 of the side jig510 by the pneumatic cylinder, and fixes the jig frame 511 to therotator 641.

As described, in the exemplary embodiment of the present disclosure, theupper portion 4 b of the side assembly 3 and the vehicle body parts areassembled in the main buck unit 500 in the main buck section 50.

In such a series of processes, a control process corresponding tomultiple vehicle types of the replaceable side jig 510 with respect tothe rotator 641 will be described in further detail with reference toFIG. 17. Specifically, the tag reader 933 provided in each side of therotator 641 receives vehicle type information stored in the vehicle typetag 931 of the side jig 510 and outputs the corresponding vehicle typeinformation to the controller (S11). In addition, in the exemplaryembodiment of the present disclosure, vehicle type information on a sidejig 510 of a type of a vehicle that is being produced and vehicle typeinformation on a side jig 510 that corresponds to a type of the nextvehicle to be produced are determined (S12).

Next, the controller determines whether or not a side jig thatcorresponds to the type of the next vehicle to be produced is coupled tothe upper side of the rotator 641 (S13).

Here, if the controller determines that the side jig 510 of the type ofthe next vehicle to be produced is coupled to the rotator 641, the sideassembly 3 of the type of the vehicle that is currently produced and aside assembly 3 of the type of the next vehicle to be produced areassembled by rotating the rotator 641 and moving the rotator 641 backand forth by using the rotation index 610 in the exemplary embodiment ofthe present disclosure (S14 and S15).

If, in S13, the controller determines that that the side jig 510 of thetype of the next vehicle to be produced is not coupled to the rotator641, the side jig 510 coupled to an upper side (i.e., (−1) side) of therotator 641 (S21) and the separated side jig 510 is unloaded in thestorage portion 910 (S22) in assembly of the side assembly 3 of the typeof the vehicle that is currently produced according to the exemplaryembodiment of the present disclosure.

Next, in the exemplary embodiment of the present disclosure, a side jig510 of a type of the next vehicle to be produced is selected from thestorage portion 910 (S23), and the side jig 510 of the type of the nextvehicle to be produced is coupled to the upper side of the rotator 641(S24) by moving the rotator 641 backward after the side assembly 3 ofthe type of the vehicle that is currently produced is assembled.

According to the exemplary embodiment of the present disclosure, thevehicle body assembling system 100 can pre-assemble the lower portion 4a of the side assembly 3 to the floor assembly 2 using the pre-buck unit200 in the pre-buck section 20 and then assemble the upper portion 4 bof the side assembly 3 and the vehicle body parts using the main buckunit 500 in the main buck section.

According to the exemplary embodiments of the present disclosure, atleast five or more types of vehicles can be assembled by separating avehicle body assembly process into two processes rather than forming aframe of a vehicle body through a single process as in a conventionalart, and various types of vehicles can be commonly produced by usingrobots.

Thus, various types of vehicles can be flexibly produced, equipmentpreparation time can be reduced, the entire equipment can belight-weight and simplified, and initial investment cost and additionalinvestment cost due to addition of different types of vehicles can besaved according to the exemplary embodiments of the present disclosure.

While this disclosure has been described in connection with what ispresently considered to be practical exemplary embodiments, it is to beunderstood that technical aspects of the present disclosure are notlimited to the exemplary embodiments suggested in the specification,but, although a person of ordinary skill in this field of art whounderstands the technical aspects of the present disclosure can suggestanother exemplary embodiment by modifications, changes, removal, andaddition of constituent elements within a range of technical aspectsthat are the same as in the present disclosure, it will also be within arange of right of the present disclosure.

What is claimed is:
 1. A vehicle body assembling system, comprising: apre-buck unit including a pre-buck section and a main buck unitincluding a main buck section that are set along a transfer path of afloor assembly, wherein the main buck unit is formed in the main bucksection, and while a side assembly is provided in each of opposite sidesof a transfer path in the main buck section and a lower portion of eachside assembly is pre-assembled to the floor assembly by the pre-buckunit, the vehicle body assembling system controls an upper portion ofeach side assembly and assembles the upper portion of each side assemblyand vehicle body parts using a second welding robot.
 2. The vehicle bodyassembling system of claim 1, wherein, while the lower portion of eachside assembly is welded to the floor assembly by the pre-buck unit, themain buck unit controls a width direction of the side assembly and weldsthe upper portion of the side assembly and the vehicle body parts usingthe second welding robot.
 3. The vehicle body assembling system of claim1, wherein the main buck unit comprises a loading portion that controlsthe vehicle body parts that include a cowl, a roof rail, and a packagetray and placing of the vehicle body parts in a regular position in theupper portion of the side assembly.
 4. The vehicle body assemblingsystem of claim 1, wherein the main buck unit comprises a plurality ofside jigs that control the upper portion of the side assembly that isdifferent depending on a type of a vehicle, and a 4-sided rotation indexthat fixes the side jig.
 5. The vehicle body assembling system of claim4, wherein the main buck unit detachably couples the side jig withrespect to the rotation index by using a handling robot.
 6. A main buckunit in a vehicle body assembling system that sets a pre-buck sectionand a main buck section along a transfer path of a floor assembly andforms a pre-buck unit in the pre-buck section, wherein the main buckunit is formed in the main buck section, the main buck unit comprising:a plurality of side jigs detachably mounted to a handling robot in themain buck section and controlling an upper portion of a side assemblythat is different depending on a type of a vehicle; a rotation indexcoupled with the side jig in the main buck section, that is rotatable bya predetermined angle, and that is provided to be reciprocativelymovable along a vehicle width direction at opposite sides of thetransfer path; and at least one second welding robot provided in themain buck section and welding the upper portion of the side assembly andvehicle body parts.
 7. The main buck unit for the vehicle bodyassembling system of claim 6, wherein the main buck unit comprises aloading portion provided to be movable along the transfer path in anupper side of the transfer path and being elevatable in the main bucksection.
 8. The main buck unit of claim 7, wherein the loading portioncontrols the vehicle body parts that include a cowl, a roof rail, and apackage tray, and places the vehicle body parts in regular positions inthe upper portion of the side assembly.
 9. The main buck unit of claim6, wherein a storage portion is provided in the main buck section tostore the plurality of side jigs.
 10. The main buck unit of claim 6,wherein each of the side jigs comprises: a jig frame mounted to an armfront end of the handling robot in the main-buck section; a plurality ofthird clampers provided in the jig frame, clamping the upper portion ofthe side assembly, and controlling a vehicle width direction of the sideassembly; and a plurality of second coupling pins provided in the jigframe and coupled with the rotation index.
 11. The main buck unit ofclaim 10, wherein the second coupling pin forms a round-shaped secondball coupling groove along a circumferential direction thereof.
 12. Themain buck unit of claim 6, wherein the rotation index comprises: secondmovement members provided to be reciprocatively movable along a vehiclewidth direction by a driver in main buck frames at opposite sides of thetransfer path; a pair of index frames provided at a distance from eachother on the second movement member; a rotator including four sideswhere the side jigs that are different depending on a type of thevehicle are detachably coupled and rotatably provided in the index frameby the driver; a plurality of jig coupling portions provided in therespective sides of the rotator and pin-coupled with the side jigs; anda plurality of fourth clampers provided in the respective sides of therotator and fixing the side jigs to the rotator.
 13. The main buck unitof claim 12, wherein the jig coupling portion is provided with atriangular structure in each side of the rotator.
 14. The main buck unitof claim 12, wherein the jig coupling portion comprises: a second pinhousing to which a second coupling pin provided in the side jig isfitted; and a second ball clamp provided in the second pin housing andclamping the second coupling pin using a plurality of balls.
 15. Themain buck unit of claim 14, wherein the second ball clamp comprises apair of second race members where the balls are rollably provided, andare provided to be movable to a center from an outer side of acircumferential direction of the second coupling pin by the driver. 16.The main buck unit of claim 15, wherein the second coupling pin forms around-shaped second ball coupling groove along a circumferentialdirection thereof.
 17. The main buck unit of claim 16, wherein the ballsare coupled to the second ball coupling grooves by the second racemembers.
 18. The main buck unit of claim 12, wherein, in the indexframe, a second location sensor that senses a location of the sideassembly and controls a driver of the second movement member accordingto a sense signal is provided.
 19. The main buck unit of claim 12,wherein a vehicle type tag is provided in the side jig and a tag readeris provided in each side of the rotator.
 20. A method for controlling amain buck unit in a vehicle body assembling system, comprising:receiving, by a tag reader, vehicle type information of side jigscoupled to four sides of a rotation index; determining, by a controller,whether a side jig that corresponds to a type of a next vehicle to beproduced in addition to the side jig of the type of a vehicle that iscurrently produced is coupled to the rotation index; when it isdetermined that a side jig of a type of the next vehicle to be producedis not coupled to the rotation index, separating the side jig mounted toan upper side of the rotation index and unloading the separated side jigin a storage portion in assembling of a side assembly of the type of thevehicle that is currently produced; and selecting, by the controller, aside jig of a type of the next vehicle to be produced from the storageportion, and coupling the selected side jig to the upper side of therotation index when the rotation index is moved backward after finishingassembly of the side jig of the type of the vehicle that is currentlyproduced.
 21. The method for controlling the main buck unit of claim 20,wherein, when it is determined that the side jig of the type of the nextvehicle to be produced is coupled to the rotation index, the sideassembly of the type of the vehicle that is currently produced and aside assembly of the type of the next to be produced vehicle areassembled by rotating the rotation index and moving the rotation indexback and forth.
 22. The method for controlling the main buck unit ofclaim 20, wherein the tag reader provided in each side of the rotationindex receives vehicle type information stored in a vehicle type tagprovided in the side jig.